Verification and Synthesis of Robust Control Barrier Functions: Multilevel Polynomial Optimization and Semidefinite Relaxation

We study the problem of verification and synthesis of robust control barrier functions (CBF) for control-affine polynomial systems with bounded additive uncertainty and convex polynomial constraints on the control. We first formulate robust CBF verification and synthesis as multilevel polynomial optimization problems (POP), where verification optimizes -- in three levels -- the uncertainty, control, and state, while synthesis additionally optimizes the parameter of a chosen parametric CBF candidate. We then show that, by invoking the KKT conditions of the inner optimizations over uncertainty and control, the verification problem can be simplified as a single-level POP and the synthesis problem reduces to a min-max POP. This reduction leads to multilevel semidefinite relaxations. For the verification problem, we apply Lasserre's hierarchy of moment relaxations. For the synthesis problem, we draw connections to existing relaxation techniques for robust min-max POP, which first use sum-of-squares programming to find increasingly tight polynomial lower bounds to the unknown value function of the verification POP, and then call Lasserre's hierarchy again to maximize the lower bounds. Both semidefinite relaxations guarantee asymptotic global convergence to optimality. We provide an in-depth study of our framework on the controlled Van der Pol Oscillator, both with and without additive uncertainty.Comment: Accepted to IEEE Conference on Decision and Control (CDC) 202

The involvement of the phenylpropanoid and jasmonate pathways in methyl jasmonate-induced soft rot resistance in kiwifruit (Actinidia chinensis)

Botryosphaeria dothidea is a major postharvest causal agent of soft rot in kiwifruit. Methyl jasmonate (MeJA) is an important plant hormone that participates as a plant defense against pathogens from a signal molecule. However, the impact and regulatory mechanism of MeJA on the attenuation of kiwifruit fungal decay remains unknown. This work investigated the effects of exogenous MeJA on the enzyme activity, metabolite content and gene expression of the phenylpropanoid and jasmonate pathways in kiwifruit. The results revealed that MeJA inhibited the expansion of B. dothidea lesion diameter in kiwifruit (Actinidia chinensis cv. ‘Hongyang’), enhanced the activity of enzymes (phenylalanine ammonia lyase, cinnamate 4-hydroxylase, 4-coumarate: coenzyme A ligase, cinnamyl alcohol dehydrogenase, peroxidase and polyphenol oxidase), and upregulated the expression of related genes (AcPAL, AcC4H, Ac4CL, and AcCAD). The accumulation of metabolites (total phenolics, flavonoids, chlorogenic acid, caffeic acid and lignin) with inhibitory effects on pathogens was promoted. Moreover, MeJA enhanced the expression of AcLOX, AcAOS, AcAOC, AcOPR3, AcJAR1, AcCOI1 and AcMYC2 and reduced the expression of AcJAZ. These results suggest that MeJA could display a better performance in enhancing the resistance of disease in kiwifruit by regulating the phenylpropanoid pathway and jasmonate pathway

Comparison of Different Methods for RNA Extraction from Floral Buds of Tree Peony (<i>Paeonia suffruticosa</i> Andr.)

Tree peony (Paeonia suffruticosa Andr.), a species native to China, is one of the most important ornamental and medicinal plants. Like other tree species in temperate and boreal zones, the dormancy-activity transition of floral buds is critical for blooming time and fruit production. However, floral buds contain high levels of secondary metabolites, making the isolation of high quality RNA difficult. To obtain a method suitable for extracting RNA from floral buds of tree peony, we evaluated five different methods, including the cetyltrimethylammonium bromide (CTAB) and Sodium dodecyl sulfate (SDS)-based methods, a modified SDS-TRNzol protocol, and two commercial kits (TRNzol and Qiagen RNeasy Plant Mini Kit). The modified SDS-TRNzol method was capable of efficiently removing polyphenols and other metabolites in floral buds. The isolated RNA was of high purity and integrity, as demonstrated by the the A260/280 ratio of approximately 2.0, and RIN values of more than 9.0. Gel electrophoresis analysis indicated that the extracted RNA had clear 28S and 18S ribosomal RNA bands without DNA contamination. The RNA isolated by this protocol was successfully used for downstream manipulations, such as RT-PCR, RACE, and real-time PCR. Together, the modified SDS-TRNzol protocol is an easy, efficient, and highly reproducible method for RNA isolation from floral buds rich in secondary metabolites

Zero-shot Transferable and Persistently Feasible Safe Control for High Dimensional Systems by Consistent Abstraction

Safety is critical in robotic tasks. Energy function based methods have been introduced to address the problem. To ensure safety in the presence of control limits, we need to design an energy function that results in persistently feasible safe control at all system states. However, designing such an energy function for high-dimensional nonlinear systems remains challenging. Considering the fact that there are redundant dynamics in high dimensional systems with respect to the safety specifications, this paper proposes a novel approach called abstract safe control. We propose a system abstraction method that enables the design of energy functions on a low-dimensional model. Then we can synthesize the energy function with respect to the low-dimensional model to ensure persistent feasibility. The resulting safe controller can be directly transferred to other systems with the same abstraction, e.g., when a robot arm holds different tools.  The proposed approach is demonstrated on a 7-DoF robot arm (14 states) both in simulation and real-world. Our method always finds feasible control and achieves zero safety violations in 500 trials on 5 different systems. </p

Pigmentation and Flavonoid Metabolite Diversity in Immature &lsquo;Fuji&rsquo; Apple Fruits in Response to Lights and Methyl Jasmonate

Artificial pigmentation of apple fruits has been intensely evaluated to generate less pigmented red apples, which are profitable because of the changes in fruit quality. In this study, we analyzed the diversity of flavonoids and the patterns of flavonoid metabolic gene expression under light irradiation with or without methyl jasmonate (MeJA) treatment in immature (S1) and color-turning (S2) staged &lsquo;Fuji&rsquo; apples. Further, we assessed the metabolic regulation at the gene level between anthocyanin and flavonol in light-responsive apple skins. UV-B exposure within 3 days was found to significantly stimulate anthocyanin accumulation in apple skin compared to other light exposure. S1 skin was more sensitive to UV-B and MeJA treatment, in the aspect of indaein accumulation. The enhancement of apple pigmentation following treatment with adequate levels of UV-B and MeJA was maximized at approximately 72 h. Red (range from 4.25 to 17.96 &micro;g&middot;g&minus;1 DW), blue (range from 4.59 to 9.17 &micro;g&middot;g&minus;1 DW) and UV-A (range from 3.98 to 19.12 &micro;g&middot;g&minus;1 DW) lights contributed to the induction of idaein content. Most genes related to the flavonoid pathways increased their expression under UV-B exposure, including the gene expression of the transcription factor, MdMYB10, a well-known upstream factor of flavonoid biosynthesis in apples. The boosted upregulation of MdMYB10, MdCHS, MdF3H MdLDOX, and MdUFGT genes due to MeJA in UV-B was found and may contribute the increase of idaein. UV-A and UV-B caused higher quercetin glycoside content in both S1 and S2 apple skins than longer wavelengths, resulting in significant increases in quercetin-3-O-galactoside and quercetin-3-O-glucoside. These results suggest that the application of adequate UV-B with MeJA in less-pigmented postharvest apples will improve apple color quality within a short period

Hope and challenge: Precision medicine in bladder cancer

Abstract Bladder cancer (BC) is a complex disease and could be classified into nonmuscle‐invasive BC (NMIBC) or muscle‐invasive BC (MIBC) subtypes according to the distinct genetic background and clinical prognosis. Until now, the golden standard and confirmed diagnosis of BC is cystoscopy and the major problems of BC are the high rate of recurrence and high costs in the clinic. Recent molecular and genetic studies have provided perspectives on the novel biomarkers and potential therapeutic targets of BC. In this article, we provided an overview of the traditional diagnostic approaches of BC, and introduced some new imaging, endoscopic, and immunological diagnostic technology in the accurate diagnosis of BC. Meanwhile, the minimally invasive precision treatment technique, immunotherapy, chemotherapy, gene therapy, and targeted therapy of BC were also included. Here, we will overview the diagnosis and therapy methods of BC used in clinical practice, focusing on their specificity, efficiency, and safety. On the basis of the discussion of the benefits of precision medicine in BC, we will also discuss the challenges and limitations facing the non‐invasive methods of diagnosis and precision therapy of BC. The molecularly targeted and immunotherapeutic approaches, and gene therapy methods to BC treatment improved the prognosis and overall survival of BC patients

Genetically targeted chemical assembly of functional materials in living cells, tissues, and animals

The structural and functional complexity of multicellular biological systems, such as the brain, are beyond the reach of human design or assembly capabilities. Cells in living organisms may be recruited to construct synthetic materials or structures if treated as anatomically defined compartments for specific chemistry, harnessing biology for the assembly of complex functional structures. By integrating engineered-enzyme targeting and polymer chemistry, we genetically instructed specific living neurons to guide chemical synthesis of electrically functional (conductive or insulating) polymers at the plasma membrane. Electrophysiological and behavioral analyses confirmed that rationally designed, genetically targeted assembly of functional polymers not only preserved neuronal viability but also achieved remodeling of membrane properties and modulated cell type-specific behaviors in freely moving animals. This approach may enable the creation of diverse, complex, and functional structures and materials within living systems

Genetically targeted chemical assembly of functional materials in living cells, tissues, and animals

© 2020 American Association for the Advancement of Science. All rights reserved. The structural and functional complexity of multicellular biological systems, such as the brain, are beyond the reach of human design or assembly capabilities. Cells in living organisms may be recruited to construct synthetic materials or structures if treated as anatomically defined compartments for specific chemistry, harnessing biology for the assembly of complex functional structures. By integrating engineered-enzyme targeting and polymer chemistry, we genetically instructed specific living neurons to guide chemical synthesis of electrically functional (conductive or insulating) polymers at the plasma membrane. Electrophysiological and behavioral analyses confirmed that rationally designed, genetically targeted assembly of functional polymers not only preserved neuronal viability but also achieved remodeling of membrane properties and modulated cell type-specific behaviors in freely moving animals. This approach may enable the creation of diverse, complex, and functional structures and materials within living systems