Robust Collision-free Lightweight Aerial Autonomy for Unknown Area Exploration

Collision-free path planning is an essential requirement for autonomous exploration in unknown environments, especially when operating in confined spaces or near obstacles. This study presents an autonomous exploration technique using a small drone. A local end-point selection method is designed using LiDAR range measurement and then generates the path from the current position to the selected end-point. The generated path shows the consistent collision-free path in real-time by adopting the Euclidean signed distance field-based grid-search method. The simulation results consistently showed the safety, and reliability of the proposed path-planning method. Real-world experiments are conducted in three different mines, demonstrating successful autonomous exploration flight in environments with various structural conditions. The results showed the high capability of the proposed flight autonomy framework for lightweight aerial-robot systems. Besides, our drone performs an autonomous mission during our entry at the Tunnel Circuit competition (Phase 1) of the DARPA Subterranean Challenge.Comment: 8 page

TT-depth-optimized Quantum Search with Quantum Data-access Machine

Quantum search algorithms offer a remarkable advantage of quadratic reduction in query complexity using quantum superposition principle. However, how an actual architecture may access and handle the database in a quantum superposed state has been largely unexplored so far; the quantum state of data was simply assumed to be prepared and accessed by a black-box operation -- so-called quantum oracle, even though this process, if not appropriately designed, may adversely diminish the quantum query advantage. Here, we introduce an efficient quantum data-access process, dubbed as quantum data-access machine (QDAM), and present a general architecture for quantum search algorithm. We analyze the runtime of our algorithm in view of the fault-tolerant quantum computation (FTQC) consisting of logical qubits within an effective quantum error correction code. Specifically, we introduce a measure involving two computational complexities, i.e. quantum query and $T$-depth complexities, which can be critical to assess performance since the logical non-Clifford gates, such as the $T$ (i.e., $\pi/8$ rotation) gate, are known to be costliest to implement in FTQC. Our analysis shows that for $N$ searching data, a QDAM model exhibiting a logarithmic, i.e., $O(\log{N})$, growth of the $T$-depth complexity can be constructed. Further analysis reveals that our QDAM-embedded quantum search requires $O(\sqrt{N} \times \log{N})$ runtime cost. Our study thus demonstrates that the quantum data search algorithm can truly speed up over classical approaches with the logarithmic $T$-depth QDAM as a key component.Comment: 13 pages, 8 figures / Comment welcom

DNA methylation loss promotes immune evasion of tumours with high mutation and copy number load

Mitotic cell division increases tumour mutation burden and copy number load, predictive markers of the clinical benefit of immunotherapy. Cell division correlates also with genomic demethylation involving methylation loss in late-replicating partial methylation domains. Here we find that immunomodulatory pathway genes are concentrated in these domains and transcriptionally repressed in demethylated tumours with CpG island promoter hypermethylation. Global methylation loss correlated with immune evasion signatures independently of mutation burden and aneuploidy. Methylome data of our cohort (n = 60) and a published cohort (n = 81) in lung cancer and a melanoma cohort (n = 40) consistently demonstrated that genomic methylation alterations counteract the contribution of high mutation burden and increase immunotherapeutic resistance. Higher predictive power was observed for methylation loss than mutation burden. We also found that genomic hypomethylation correlates with the immune escape signatures of aneuploid tumours. Hence, DNA methylation alterations implicate epigenetic modulation in precision immunotherapy

A Guidance and Control Law Design for Precision Automatic Take-off and Landing of Fixed-Wing UAVs

This paper presents an automatic take-off and landing control system (ATOLS) for fixed-wing UAVs. We propose a guidance and control system to satisfy the requirement for high-precision landing using arresting wires. For trajectory tracking, Line-of-Sight (LOS)-based longitudinal and lateral guidance laws are derived. For the design of inner loop controllers, linear models are identified directly from the flight data. In order to maintain the consistency of the control performance in the presence of flight regime changes during take-off and landing, the linear baseline controller is augmented with a compensator designed using L 1 adaptive control theory, which eliminates the need for conventional gain scheduling. The proposed control system is implemented on a scale Cessna UAV with an arresting hook for validation. The proposed take-off and landing system demonstrated a consistent performance in a series of test flight on a full-scale carrier model

Comparison of risk and protective factors associated with smartphone addiction and Internet addiction

Background and Aims Smartphone addiction is a recent concern that has resulted from the dramatic increase in worldwide smartphone use. This study assessed the risk and protective factors associated with smartphone addiction in college students and compared these factors to those linked to Internet addiction. Methods College students (N = 448) in South Korea completed the Smartphone Addiction Scale, the Young’s Internet Addiction Test, the Alcohol Use Disorders Identification Test, the Beck Depression Inventory I, the State–Trait Anxiety Inventory (Trait Version), the Character Strengths Test, and the Connor–Davidson Resilience Scale. The data were analyzed using multiple linear regression analyses. Results The risk factors for smartphone addiction were female gender, Internet use, alcohol use, and anxiety, while the protective factors were depression and temperance. In contrast, the risk factors for Internet addiction were male gender, smartphone use, anxiety, and wisdom/knowledge, while the protective factor was courage. Discussion These differences may result from unique features of smartphones, such as high availability and primary use as a tool for interpersonal relationships. Conclusions Our findings will aid clinicians in distinguishing between predictive factors for smartphone and Internet addiction and can consequently be utilized in the prevention and treatment of smartphone addiction

TRIM28 inactivation in epithelial nephroblastoma is frequent and often associated with predisposing TRIM28 germline variants.

Wilms tumors (WTs) are histologically diverse childhood cancers with variable contributions of blastema, stroma, and epithelia. A variety of cancer genes operate in WTs, including the tripartite-motif-containing-28 gene (TRIM28). Case reports and small case series suggest that TRIM28 mutations are associated with epithelial morphology and WT predisposition. Here, we systematically investigated the prevalence of TRIM28 inactivation and predisposing mutations in a cohort of 126 WTs with >2/3 epithelial cells, spanning 20 years of biobanking in the German SIOP93-01/GPOH and SIOP2001/GPOH studies. Overall, 44.4% (56/126) cases exhibited loss of TRIM28 by immunohistochemical staining. Of these, 48 could be further analyzed molecularly, revealing TRIM28 sequence variants in each case - either homozygous (~2/3) or heterozygous with epigenetic silencing of the second allele (~1/3). The majority (80%) of the mutations resulted in premature stops and frameshifts. In addition, we detected missense mutations and small deletions predicted to destabilize the protein through interference with folding of key structural elements such as the zinc-binding clusters of the RING, B-box-2, and PHD domains or the central coiled-coil region. TRIM28-mutant tumors otherwise lacked WT-typical IGF2 alterations or driver events, except for rare TP53 progression events that occurred with expected frequency. Expression profiling identified TRIM28-mutant tumors as a homogeneous subset of epithelial WTs that mostly present with stage I disease. There was a high prevalence of perilobar nephrogenic rests, putative precursor lesions, that carried the same biallelic TRIM28 alterations in 7/7 cases tested. Importantly, 46% of the TRIM28 mutations were present in blood cells or normal kidney tissue, suggesting germline events or somatic mosaicism, partly supported by family history. Given the high prevalence of predisposing variants in TRIM28-driven WT, we suggest that immunohistochemical testing of TRIM28 be integrated into diagnostic practice as the management of WT in predisposed children differs from that with sporadic tumors. © 2023 The Authors. The Journal of Pathology published by John Wiley & Sons Ltd on behalf of The Pathological Society of Great Britain and Ireland

Somatic Evolution in Non-neoplastic IBD-Affected Colon.

Inflammatory bowel disease (IBD) is a chronic inflammatory disease associated with increased risk of gastrointestinal cancers. We whole-genome sequenced 446 colonic crypts from 46 IBD patients and compared these to 412 crypts from 41 non-IBD controls from our previous publication on the mutation landscape of the normal colon. The average mutation rate of affected colonic epithelial cells is 2.4-fold that of healthy colon, and this increase is mostly driven by acceleration of mutational processes ubiquitously observed in normal colon. In contrast to the normal colon, where clonal expansions outside the confines of the crypt are rare, we observed widespread millimeter-scale clonal expansions. We discovered non-synonymous mutations in ARID1A, FBXW7, PIGR, ZC3H12A, and genes in the interleukin 17 and Toll-like receptor pathways, under positive selection in IBD. These results suggest distinct selection mechanisms in the colitis-affected colon and that somatic mutations potentially play a causal role in IBD pathogenesis