Impact of Controlling Shareholder Equity Pledge on Corporate Value

As an innovative financing behavior, equity pledge breaks the limit of traditional financing, and broadens the financing channels of companies and major shareholders. This paper comprehensively considers the impact of controlling shareholder equity pledge on corporate value from three research perspectives. The main conclusions are as follows: (1) When the equity pledge is not considered, the cash flow rights and voting rights of the company owned by the controlling shareholder are positively correlated with corporate value. That is, this presents incentive effect, but the existence of the separation of the two powers brings the second type of agency problem and reduces corporate value. (2) When considering the equity pledge, the controlling shareholder’s equity pledge may weaken the incentive effect and strengthen the encroachment effect which causing a reduction of corporate value. (3) Based on the accounting point of view, the controlling shareholder’s equity pledge is negatively correlated with the corporate performance, while the concentration of ownership dilutes this negative effect. (4) The balance of equity weakens the negative effect of the controlling shareholder’s equity pledge on corporate value, thereby reduces the negative impact of the equity pledge

A sEMG-based shared control system with no-target obstacle avoidance for omnidirectional mobile robots

We propose a novel shared control strategy for mobile robots in a human-robot interaction manner based on surface eletromyography (sEMG) signals. For security reasons, an obstacle avoidance scheme is introduced to the shared control system as collision avoidance guidance. The motion of the mobile robot is a resultant of compliant motion control and obstacle avoidance. In the mode of compliant motion, the sEMG signals obtained from the operator's forearms are transformed into human commands to control the moving direction and linear velocity of the mobile robot, respectively. When the mobile robot is blocked by obstacles, the motion mode is converted into obstacle avoidance. Aimed at the obstacle avoidance problem without a specific target, we develop a no-target Bug (NT-Bug) algorithm to guide the mobile robot to avoid obstacles and return to the command line. Besides, the command moving direction given by the operator is taken into consideration in the obstacle avoidance process to plan a smoother and safer path for the mobile robot. A model predictive controller is exploited to minimize the tracking errors. Experiments have been implemented to demonstrate the effectiveness of the proposed shared control strategy and the NT-Bug algorithm

OCC-VO: Dense Mapping via 3D Occupancy-Based Visual Odometry for Autonomous Driving

Visual Odometry (VO) plays a pivotal role in autonomous systems, with a principal challenge being the lack of depth information in camera images. This paper introduces OCC-VO, a novel framework that capitalizes on recent advances in deep learning to transform 2D camera images into 3D semantic occupancy, thereby circumventing the traditional need for concurrent estimation of ego poses and landmark locations. Within this framework, we utilize the TPV-Former to convert surround view cameras' images into 3D semantic occupancy. Addressing the challenges presented by this transformation, we have specifically tailored a pose estimation and mapping algorithm that incorporates Semantic Label Filter, Dynamic Object Filter, and finally, utilizes Voxel PFilter for maintaining a consistent global semantic map. Evaluations on the Occ3D-nuScenes not only showcase a 20.6% improvement in Success Ratio and a 29.6% enhancement in trajectory accuracy against ORB-SLAM3, but also emphasize our ability to construct a comprehensive map. Our implementation is open-sourced and available at: https://github.com/USTCLH/OCC-VO.Comment: 7pages, 3 figure

Formation of a streamer blob via the merger of multiple plasma clumps below 2Rs

Context. Propagating streamer blobs could be an important source of disturbances in the solar wind. Direct observations on formation of streamer blobs could be a proxy for understanding the formation of small-scale structures and disturbances in the solar wind. Aims. We aim to investigate how a streamer blob is formed before it is observed in the outer corona. Methods. Usingspecialcoordinated-observationsfromSOHO/LASCO,GOES/SUVIandSDO/AIA, we study the precursors of a streamer blob as seen in the corona below 2.0 solar radii (Rs). Results. We found that the streamer blob was formed due to the gradual merging of three clumps of brightenings initiated from the lower corona at about 1.8Rs, which is likely driven by expansion of the loop system at the base of the streamer. The acceleration of the blob starts from 1.9Rs or lower. It propagates along the south flank of the streamer where an expanding elongated brightening occurs coincidently. Conclusions. Our observations demonstrate that formation of a streamer blob is a complex process. We suggest that the expansion of the loop results in a pinching-off flux-rope-like blob at the loop apex below 2Rs. When the blob moves outward, it can be transferred across the overlying loops through interchange/component magnetic reconnection and then is released into the open field system. When the blob moves toward open field lines, interchange magnetic reconnections might also occur, and that can accelerate the plasma blob intermittently whilst allow it to transfer across the open field lines. Such dynamics in a streamer blob might further trigger small-scale disturbances in the solar wind such as switchbacks in the inner heliosphere

Identification and validation of SERPINE1 as a prognostic and immunological biomarker in pan-cancer and in ccRCC

Background:SERPINE1, a serine protease inhibitor involved in the regulation of the plasminogen activation system, was recently identified as a cancer-related gene. However, its clinical significance and potential mechanisms in pan-cancer remain obscure.Methods: In pan-cancer multi-omics data from public datasets, including The Cancer Genome Atlas (TCGA) and Genotype-Tissue Expression (GTEx), and online web tools were used to analyze the expression of SERPINE1 in different cancers and its correlation with prognosis, genetic alteration, DNA promoter methylation, biological processes, immunoregulator expression levels, immune cell infiltration into tumor, tumor mutation burden (TMB), microsatellite instability (MSI), immunotherapy response and drug sensitivity. Further, two single-cell databases, Tumor Immune Single-cell Hub 2 (TISCH2) and CancerSEA, were used to explore the expression and potential roles of SERPINE1 at a single-cell level. The aberrant expression of SERPINE1 was further verified in clear cell renal cell carcinoma (ccRCC) through qRT-PCR of clinical patient samples, validation in independent cohorts using The Gene Expression Omnibus (GEO) database, and proteomic validation using the Clinical Proteomic Tumor Analysis Consortium (CPTAC) database.Results: The expression of SERPINE1 was dysregulated in cancers and enriched in endothelial cells and fibroblasts. Copy number amplification and low DNA promoter methylation could be partly responsible for high SERPINE1 expression. High SERPINE1 expression was associated with poor prognosis in 21 cancers. The results of gene set enrichment analysis (GSEA) indicated SERPINE1 involvement in the immune response and tumor malignancy. SERPINE1 expression was also associated with the expression of several immunoregulators and immune cell infiltration and could play an immunosuppression role. Besides, SERPINE1 was found to be related with TMB, MSI, immunotherapy response and sensitivity to several drugs in cancers. Finally, the high expression of SERPINE1 in ccRCC was verified using qRT-PCR performed on patient samples, six independent GEO cohorts, and proteomic data from the CPTAC database.Conclusion: The findings of the present study revealed that SERPINE1 exhibits aberrant expression in various types of cancers and is associated with cancer immunity and tumor malignancy, providing novel insights for individualized cancer treatment

Exogenous melatonin mediates radish (Raphanus sativus) and Alternaria brassicae interaction in a dose-dependent manner

Radish (Raphanus sativus L.) is an economically important vegetable worldwide, but its sustainable production and breeding are highly threatened by blight disease caused by Alternaria brassicae. Melatonin is an important growth regulator that can influence physiological activities in both plants and microbes and stimulate biotic stress resistance in plants. In this study, 0-1500 μM melatonin was exogenously applied to healthy radish seedlings, in vitro incubated A. brassicae, and diseased radish seedlings to determine the effects of melatonin on host, pathogen, and host-pathogen interaction. At sufficient concentrations (0-500 μM), melatonin enhanced growth and immunity of healthy radish seedlings by improving the function of organelles and promoting the biosynthesis of antioxidant enzymes, chitin, organic acid, and defense proteins. Interestingly, melatonin also improved colony growth, development, and virulence of A. brassicae. A strong dosage-dependent effect of melatonin was observed: 50-500 μM promoted host and pathogen vitality and resistance (500 μM was optimal) and 1500 μM inhibited these processes. Significantly less blight was observed on diseased seedlings treated with 500 μM melatonin, indicating that melatonin more strongly enhanced the growth and immunity of radish than it promoted the development and virulence of A. brassicae at this treatment concentration. These effects of MT were mediated by transcriptional changes of key genes as identified by RNA-seq, Dual RNA-seq, and qRT-PCR. The results from this work provide a theoretical basis for the application of melatonin to protect vegetable crops against pathogens